Download or read book Modelling and Simulation of Multibody Systems with Unilateral Contact written by Albert Peiret Gimenez and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Models based on bodies that interact with each other are also known as multibody systems. Such models are proven to be very useful for representing the motion of many different kinds of systems, from industrial machinery to the human body. In many cases, rigid bodies can be employed if their deformation is negligible compared to their displacement, which significantly reduces the complexity of the model. Moreover, numerical simulations of multibody systems can be very efficient, and be used for real-time interactive applications in engineering and computer animation. The focus of this thesis is on the modelling and simulation of multibody systems, with especial emphasis to unilateral contact and friction between the bodies. The inherent non-smooth nature of contact is approached using the concept of unilateral constraints, which leads the system dynamics to formulate linear complementarity problems. However, these formulations can present inconsistencies when Coulomb friction is used to model contact, which can compromise the solvability of the dynamic equations and the numerical simulation as well. Here, the contact problem is analyzed using a novel representation of the generalized friction cone that is able to capture different phenomena, such as the Painlevé paradox. The framework of this work largely relies on formulations at the impulse-momentum level of multibody system dynamics. Implicit integration schemes make the numerical simulation of such systems stable, as well as robust. Additionally, constraint regularization also helps the model to cope with redundancy of the contact forces. A new regularized friction model based on the bristle approach is presented, which models the flexibility of the system at the contact interface, and is able to capture the static behavior of friction, or sticking. Moreover, other techniques that facilitate the simulation of large scale systems are also proposed herein. Substructuring of multibody systems groups the bodies into subsystems, which allows the system dynamics to be solved in different processing units (CPUs), and reduces the computational time by performing the operations in parallel. This is achieved by means of formulating the effective mass of the system at the coupling interfaces, which can also be used to couple the simulation to other systems of different nature and time-scale, such as hydraulic systems. Interestingly, co-simulation of such multi-physics systems is currently in the spotlight of many engineering applications ranging from virtual prototyping to simulation with hardware in the loop"--

Download or read book Multibody Dynamics with Unilateral Contacts written by Friedrich Pfeiffer and published by John Wiley & Sons. This book was released on 2008-09-26 with total page 329 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mechanical systems become more complex so do the mathematical models and simulations used to describe the interactions of their parts. One area of multibody theory that has received a great deal of attention in recent years is the dynamics of multiple contact situations occurring in continuous joints and couplings. Despite the rapid gains in our understanding of what occurs when continuous joints and couplings interact, until now there were no books devoted exclusively to this intriguing phenomenon. Focusing on the concerns of practicing engineers, Multibody Dynamics with Unilateral Contacts presents all theoretical and applied aspects of this subject relevant to a practical understanding of multiple unilateral contact situations in multibody mechanical systems. In Part 1, Professor Pfeiffer and Dr. Glocker provide an exhaustive review of the laws and principles governing the dynamics of unilateral contacts in multibody mechanical and technical systems. Among the topics covered are multibody and contact kinematics, the dynamics of rigid body systems, multiple contact configurations, detachment and stick-slip transitions, frictionless impacts, impacts with friction, and the Corner law of contact dynamics. In Part 2, the authors present numerous applications of the theories presented in Part 1. Each chapter in this part is devoted to a different law, theory, or model, such as discontinuous force laws, classical impact theory, Coulomb's friction law, and mechanical and mathematical models of impacts and friction. In addition, each chapter features several practical examples that allow engineers to observe the concepts described in action. Examples are drawn from a broad array of fields and range from hammering in gears as occurring in a synchronous generator to impacts and friction as observed in a child's woodpecker toy, from a demonstration of classical impact theory using an automobile gear box example, to Coulomb's friction law as applied to a turbine blade damper. Multibody Dynamics with Unilateral Contacts is an indispensable resource for mechanical engineers working on all types of multibody systems and the friction and vibration problems that can occur in them. It is also a valuable reference for researchers studying nonlinear dynamics. The only book devoted entirely to the theory and applications of onE of the most crucial aspects of multibody system design. This is the first book to focus exclusively on the theory and applications of multiple contact situations occurring in continuous joints and couplings in multibody systems. As such, it is a valuable resource for engineers working on mechanical systems with interrelated multiple parts. Multibody Dynamics with Unilateral Contacts * Provides a comprehensive examination of the laws and principles governing the dynamics of unilateral contacts in multibody mechanical and technical systems. * Presents the latest mathematical models and simulation techniques for describing the interactions of joints and couplings in multibody systems. * Describes practical applications for all the concepts covered. * Includes numerous examples drawn from a wide range of fascinating and enlightening real-world demonstrations, including everything from an airplane's landing gear to a child's toy.

Download or read book Virtual Nonlinear Multibody Systems written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2003-06-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.

Download or read book Numerics of Unilateral Contacts and Friction written by Christian Studer and published by Springer Science & Business Media. This book was released on 2009-05-06 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechanics provides the link between mathematics and practical engineering app- cations. It is one of the oldest sciences, and many famous scientists have left and will leave their mark in this fascinating ?eld of research. Perhaps one of the most prominentscientists in mechanics was Sir Isaac Newton, who with his “laws of - tion” initiated the description of mechanical systems by differential equations. And still today, more than 300 years after Newton, this mathematical concept is more actual than ever. The rising computer power and the development of numerical solvers for diff- ential equations allowed engineersall over the world to predict the behavior of their physical systems fast and easy in an numerical way. And the trend to computational simulation methods is still further increasing, not only in mechanics, but practically in all branches of science. Numerical simulation will probablynot solve the world’s engineering problems, but it will help for a better understanding of the mechanisms of our models.

Download or read book Symbolic Modeling of Multibody Systems written by J-C. Samin and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and analysing multibody systems require a comprehensive understanding of the kinematics and dynamics of rigid bodies. In this volume, the relevant fundamental principles are first reviewed in detail and illustrated in conformity with the multibody formalisms that follow. Whatever the kind of system (tree-like structures, closed-loop mechanisms, systems containing flexible beams or involving tire/ground contact, wheel/rail contact, etc), these multibody formalisms have a common feature in the proposed approach, viz, the symbolic generation of most of the ingredients needed to set up the model. The symbolic approach chosen, specially dedicated to multibody systems, affords various advantages: it leads to a simplification of the theoretical formulation of models, a considerable reduction in the size of generated equations and hence in resulting computing time, and also enhanced portability of the multibody models towards other specific environments. Moreover, the generation of multibody models as symbolic toolboxes proves to be an excellent pedagogical medium in teaching mechanics.

Download or read book Modeling and Simulation of Contact and Impact Dynamics in Multibody Systems written by Abhishek Chatterjee and published by . This book was released on 2019 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contact and impact analyses are an essential part of multibody dynamic simulations.Modeling of contact and impact problems have applications in a wide variety of areas including robotics, earthquake engineering, computer graphics, and manufacturing. Collisions between objects typically take place over surfaces that are represented by a set of points in the operation space, thereby requiring multi-point contact and impact analysis.Analysis of multi-point contact and impact may lead to indeterminate (underdetermined) problems with more number of unknowns (contact forces) than equations.This work pertains to the problem of resolving multi-point contact and impact problems in multibody systems consisting of hard objects, that can be assumed to be rigid.In the first part of this work, a rigidity based modeling and simulation technique is developed for multi-point impacts between hard objects. In this proposed framework impacts are treated as discrete events during which the velocities of the system evolve in the impulse-domain, based on an impulse-momentum theory called Darboux-Keller shock.Constraints derived based on the rigid body assumption are used to resolve indeterminacy associated with multi-point analysis. An energetic terminal constraint is also proposed. based on Stronge's Hypothesis, that guarantees the treatment of impact to be energetically consistent. This approach is used to derive both planar and three-dimensional models of multi-point indeterminate impacts.The rigid impact model based on impulse-momentum theory, developed in the first part of this work, loses some information like force and deformation histories during impacts. This lost information, however can be useful in certain types of application. Hence, to retain this information, the second part of this work proposes a method of augmenting the rigid-impact model with a contact force model from the contact mechanics literature to simultaneously determine the force and deformation histories during an impact event.The contact force model used here is a viscoelastoplastic model of contact that considers the effects of permanent (plastic) deformation in the material. A relationship is developed between the permanent deformations of the material and the energetic terminal constraint proposed in the first part of this work to characterize the force histories during collisions.The accumulation of discrete impact events during the time-domain simulation may lead to chattering or zeno phenomenon, causing the adaptive step-size integration to halt or fail. This work resolves this problem by transitioning to contact when the normal components of the post-impact velocities become very small. During contact, the forces between the participating rigid bodies satisfy the: 1) non-penetrability condition and 2) frictional force constraints based on Coulomb Friction. The non-penetrability condition enforces normal velocity and acceleration constraints on the equations of motion, whereas the Coulomb friction constrains the tangential forces at the contact points. These constraints placed on the equations of motion, lead to a reduction in the number of degrees of freedom (DOF) of the system. This work uses an online constraint embedding technique to enforce contact constraints.

Download or read book Virtual Nonlinear Multibody Systems written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2003-06-30 with total page 468 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.

Download or read book Contact Force Models for Multibody Dynamics written by Paulo Flores and published by Springer. This book was released on 2016-03-15 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.

Download or read book Dynamic Simulation of Multibody Systems in Simultaneous Indeterminate Contact and Impact with Friction written by Adrian Rodriguez and published by . This book was released on 2014 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research is focused on improving the solutions obtained using theory in contact and impact modeling. A theoretical framework is developed which can simulate the performance of dynamic systems within a real world environment. This environment involves conditions, such as contact, impact and friction. Numerical simulation provides an easy way to perform numerous iterations with varying conditions, which is more cost effective than building equivalent experimental setups. The developed framework will serve as a tool for engineers and scientists to gain some insight on predicting how a system may behave. The current field of research in multibody system dynamics lacks a framework for modeling simultaneous, indeterminate contact and impact with friction. This special class of contact and impact problems is the major focus of this research. This research develops a framework, which contributes to the existing literature. The contact and impact problems examined in this work are indeterminate with respect to the impact forces. This is problematic because the impact forces are needed to determine the slip-state of contact and impact points. The novelty of the developed approach relies on the formation of constraints among the velocities of the impact points. These constraints are used to address the indeterminate nature of the collisions encountered. This approach strictly adheres to the assumptions of rigid body modeling in conjunction with the notion that the configuration of the system does not change in the short time span of the collision. These assumptions imply that the impact Jacobian is constant during the collision, which enforces a kinematic relationship between the impact points. The developed framework is used to address simultaneous, indeterminate contact and impact problems with friction. In the preliminary stages of this research, an iterative method, which incorporated an optimization function was used obtain the solutions for numerical solution to the collision. In an effort to improve the time and accuracy of the results, the iterative method was replaced with an analytical approach and implemented with the constraint formulation to achieve more energetically consistent solutions (i.e. there are no unusual gains in energy after the impact). The details of why this claim is valid will be discussed in more detail in this dissertation. The analytical framework was developed for planar contact and impact problems, while a numerical framework is developed for three-dimensional (3D) problems. The modeling of friction in 3D presents some challenging issues that are well documented in the literature, which make it difficult to apply an analytical framework. Simulations are conducted for a planar ball, planar rocking block problem, Newton's Cradle, 3D sphere, and 3D rocking block. Some examples serve as benchmark problems, in which the results are validated using experimental data.

Download or read book Dynamic Simulations of Multibody Systems written by Murilo G. Coutinho and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 387 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.

Download or read book Kinematics and Dynamics of Multibody Systems with Imperfect Joints written by Paulo Flores and published by Springer Science & Business Media. This book was released on 2008-01-10 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.

Download or read book The Art of Modeling Mechanical Systems written by Friedrich Pfeiffer and published by Springer. This book was released on 2016-09-14 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: The papers in this volume present rules for mechanical models in a general systematic way, always in combination with small and large examples, many from industry, illustrating the most important features of modeling. The best way to reach a good solution is discussed. The papers address researchers and engineers from academia and from industry, doctoral students and postdocs, working in the fields of mechanical, civil and electrical engineering as well as in fields like applied physics or applied mathematics.

Download or read book Modeling of Unilateral Contact Conditions in Aerospace Systems written by and published by . This book was released on 2005 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multibody dynamics analysis is a powerful tool for the comprehensive simulation of the dynamic response of various flexible aerospace systems that are important to the Air Force. Systems of arbitrary topology and complexity can be readily modeled; they include both aircraft and spacecraft. In present formulations, the joints connecting the various flexible bodies are not modeled per se. Rather, the effect of joints, i.e. the constraints they impose on the behavior of the entire system are modeled through a set of kinematic constraints; the piece of hardware that actually constitutes the joint is not modeled.

Download or read book Advanced Multibody System Dynamics written by Werner Schiehlen and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 491 pages. Available in PDF, EPUB and Kindle. Book excerpt: The German Research Council (DFG) decided 1987 to establish a nationwide five year research project devoted to dynamics of multibody systems. In this project universities and research centers cooperated with the goal to develop a general pur pose multibody system software package. This concept provides the opportunity to use a modular structure of the software, i.e. different multibody formalisms may be combined with different simulation programmes via standardized interfaces. For the DFG project the database RSYST was chosen using standard FORTRAN 77 and an object oriented multibody system datamodel was defined. The project included • research on the fundamentals of the method of multibody systems, • concepts for new formalisms of dynamical analysis, • development of efficient numerical algorithms and • realization of a powerful software package of multibody systems. These goals required an interdisciplinary cooperation between mathematics, compu ter science, mechanics, and control theory. ix X After a rigorous reviewing process the following research institutions participated in the project (under the responsibility of leading scientists): Technical University of Aachen (Prof. G. Sedlacek) Technical University of Darmstadt (Prof. P. Hagedorn) University of Duisburg M. Hiller) (Prof.

Download or read book Modeling of Rigid Body Contacts for Dynamic Simulation written by Peter R. Kraus and published by . This book was released on 2002 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book IUTAM Symposium on Unilateral Multibody Contacts written by F. Pfeiffer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multibody dynamics started with the ideas of Jacob and Daniel Bernoul li and later on with d'Alembert's principle. In establishing a solution for the problem of the center of oscillation for a two-mass-pendulum Jacob Ber noulli spoke about balancing the profit-and-Ioss account with respect to the motion of the two masses. Daniel Bernoulli extended these ideas to a chain pendulum and called forces not contributing to the motion "lost forces", thus being already very close to d'Alembert's principle. D'Alembert considered a "system of bodies, which are interconnected in some arbitrary way. " He suggested separating the motion into two parts, one moving, the other being at rest. In modern terms, or at least in terms being applied in engineering mechanics, this means that the forces acting on a system of bodies are split into active and passive forces. Active forces generate motion, passive forces do not; they are a result of constraints. This interpretation of d'Alembert's principle is due to Lagrange and up to now has been the basis of multi body dynamics (D' Alembert, Traite de Dynamique, 1743; Lagrange, Mecanique Analytique, 1811). Thus, multibody dynamics started in France. During the nineteenth century there were few activities in the multi body field even though industry offered plenty of possible applications and famous re presentatives of mechanics were aware of the problems related to multibody dynamics. Poisson in his "Traite de Mecanique" (Paris 1833) gave an im pressive description of these problems, including impacts and friction.

Download or read book IUTAM Symposium on Intelligent Multibody Systems Dynamics Control Simulation written by Evtim Zahariev and published by Springer. This book was released on 2019-01-09 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.